TBM换刀机器人的设计分析与运动控制

Design and Motion Control of Disc Cutter Changing Robot for TBM

针对全断面岩石隧道掘进机(TBM)施工过程中滚刀频繁失效、换刀空间狭小及人工作业困难等问题,提出一种6自由度换刀机器人,并进行换刀范围分析、关节轨迹规划及运动控制仿真.首先,基于Denavit-Hartenberg(D-H)法建立运动学模型,采用蒙特卡洛伪随机法求解末端执行器工作空间,并针对TBM刀盘实例计算机器人换刀范围;其次,通过基于多段中间点的五次多项式插值法进行换刀机器人轨迹规划,求解各关节运动参数;最后,以规划轨迹为输入参数进行运动控制仿真.结果表明:TBM整盘滚刀的总换刀率可达84.9%;规划轨迹下的各关节运动过程没有刚性与柔性冲击;移动关节的运动控制最大误差区间为[-0.005m, 0.005m],相对误差为0.46%,转动关节最大误差区间为[-0.35°,0.35°],相对误差仅0.19%,定位精度良好.研究成果可为TBM换刀机器人智能控制研究与工程现场应用提供借鉴.

To solve the problems of frequent failure of disc cutter, narrow space for disc cutter changing, and difficult manual operation in tunnel boring machine(TBM) construction, a 6-degree of freedom disc cutter changing robot was proposed.Disc cutter changing range analysis, joint trajectory planning, and motion control simulation were carried out.Firstly, the kinematic model was established based on the Denavit-Hartenberg(D-H) method, and the end effector workspace was obtained by the Monte Carlo pseudo-random method, and the robot changing range was solved by taking the TBM cutter head as an example.Secondly, the trajectory planning of the disc cutter changing robot was carried out by the quintic polynomial interpolation method based on multi-segment middle points, and the motion parameters of each joint were obtained.Finally, motion control was simulated with the planning trajectory as the input parameter.The results show that the total disc cutter changing rate reaches 84.9%.And there is no rigid and flexible impact in the motion process of each joint under the planning trajectory.The maximum error interval of moving joints motion control is[-0.005 m, 0.005 m],and the relative error is 0.46%,while the maximum error interval of rotating joints is[-0.35°,0.35°],and the relative error is only 0.19%,which has good positioning accuracy.The results can provide references for intelligent control research and field application of TBM disc cutter changing robots.